orte/contrib/Robot_Demo/src/org/ocera/orte/demo/Publishers/CraneCmdPublish.java

   1 package org.ocera.orte.demo.Publishers;
   2
   3 import java.util.concurrent.locks.ReentrantReadWriteLock;
   4 import java.util.concurrent.locks.ReentrantReadWriteLock.ReadLock;
   5 import java.util.concurrent.locks.ReentrantReadWriteLock.WriteLock;
   6
   7 import org.ocera.orte.DomainApp;
   8 import org.ocera.orte.Publication;
   9 import org.ocera.orte.demo.DataTypes.CraneCmdType;
  10 import org.ocera.orte.types.NtpTime;
  11 import org.ocera.orte.types.PublProp;
  12
  13 public class CraneCmdPublish {
  14
  15         private boolean isCancelled = true;
  16         private CraneCmdType liftmsg;
  17         private Publication pub;
  18         private PublProp publProp;
  19         private DomainApp appDomain;
  20
  21         private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
  22         private final ReadLock rcLock = controlRrwl.readLock();
  23         private final WriteLock wcLock = controlRrwl.writeLock();
  24
  25         public CraneCmdPublish(DomainApp appDomain) {
  26                 this.appDomain = appDomain;
  27
  28             NtpTime persistence = new NtpTime(3);
  29             int strength = 100;
  30
  31             liftmsg = new CraneCmdType(appDomain,"crane_cmd");
  32
  33             publProp = new PublProp(liftmsg.getTopic(),
  34                                                                          "crane_cmd",
  35                                                                          persistence,
  36                                                                          strength);
  37         }
  38
  39         public void start() {
  40                 wcLock.lock();
  41                 try {
  42                         isCancelled = false;
  43                     pub = appDomain.createPublication(publProp, liftmsg);
  44                 }
  45                 finally {
  46                         wcLock.unlock();
  47                 }
  48         }
  49
  50         public void cancel() {
  51                 wcLock.lock();
  52                 try {
  53                         isCancelled = true;
  54                         pub.destroy();
  55                 } finally {
  56                         wcLock.unlock();
  57                 }
  58         }
  59
  60         public boolean isCancelled() {
  61                 rcLock.lock();
  62                 try {
  63                         return isCancelled;
  64                 } finally {
  65                         rcLock.unlock();
  66                 }
  67         }
  68
  69         public void send(int magnet) {
  70                 liftmsg.position = magnet;
  71                 pub.send(liftmsg);
  72         }
  73 }